1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
19 You should have received a copy of the GNU General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 #include "FGMatrix33.h"
43 #include "FGColumnVector3.h"
44 #include "FGColumnVector4.h"
46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
50 #define ID_POSITION "$Id$"
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 COMMENTS, REFERENCES, and NOTES
58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
64 /** Models the lateral and longitudinal translational EOM.
69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
73 class FGPosition : public FGModel {
76 @param Executive a pointer to the parent executive object */
77 FGPosition(FGFDMExec*);
83 /** Runs the Position model; called by the Executive
84 @see JSBSim.cpp documentation
85 @return false if no error */
88 inline FGColumnVector3& GetVel(void) { return vVel; }
89 inline FGColumnVector3& GetVelDot(void) { return vVelDot; }
90 inline double GetVn(void) { return vVel(eX); }
91 inline double GetVe(void) { return vVel(eY); }
92 inline double GetVd(void) { return vVel(eZ); }
93 inline double GetVground(void) { return Vground; }
94 inline double GetGroundTrack(void) { return psigt; }
95 inline double Geth(void) { return h; }
96 inline double Gethdot(void) { return RadiusDot; }
97 inline double GetLatitude(void) { return Latitude; }
98 inline double GetLatitudeDot(void) { return LatitudeDot; }
99 inline double GetLongitude(void) { return Longitude; }
100 inline double GetLongitudeDot(void) { return LongitudeDot; }
101 inline double GetRunwayRadius(void) { return RunwayRadius; }
102 inline double GetDistanceAGL(void) { return DistanceAGL; }
103 inline double GetRadius(void) { return Radius; }
104 inline FGColumnVector3& GetRunwayNormal(void) { return vRunwayNormal; }
106 inline double GetGamma(void) { return gamma; }
107 inline void SetGamma(float tt) { gamma = tt; }
108 inline double GetHOverB(void) { return hoverb; }
109 void SetvVel(const FGColumnVector3& v) { vVel = v; }
110 void SetLatitude(float tt) { Latitude = tt; }
111 void SetLongitude(double tt) { Longitude = tt; }
112 void Seth(double tt);
113 void SetRunwayRadius(double tt) { RunwayRadius = tt; }
114 void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
115 void SetDistanceAGL(double tt);
116 inline void SetRunwayNormal(double fgx, double fgy, double fgz ) {
117 vRunwayNormal << fgx << fgy << fgz;
121 FGColumnVector3 vVel;
122 FGColumnVector3 vVelDot;
123 FGColumnVector3 vRunwayNormal;
125 double Vee, invMass, invRadius;
127 double LatitudeDot, LongitudeDot, RadiusDot;
128 double lastLatitudeDot, lastLongitudeDot, lastRadiusDot;
129 double Longitude, Latitude;
133 double SeaLevelRadius;
144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%